package com.hitqz.robot.arm.dto;

import com.hitqz.robot.camera.dto.IEquipmentCmdParamsDto;
import lombok.AllArgsConstructor;
import lombok.Data;
import lombok.EqualsAndHashCode;
import lombok.NoArgsConstructor;

/**
 * 直线运动参数
 */
@EqualsAndHashCode(callSuper = true)
@Data
@AllArgsConstructor
@NoArgsConstructor
public class LinearMoveDto extends IEquipmentCmdParamsDto {
    private double x;           ///< x轴坐标，单位mm
    private double y;           ///< y轴坐标，单位mm
    private double z;           ///< z轴坐标，单位mm
    private double rx;          ///< 绕固定轴X旋转角度，单位：rad
    private double ry;          ///< 绕固定轴Y旋转角度，单位：rad
    private double rz;          ///< 绕固定轴Z旋转角度，单位：rad
    private int speed;                          //运动速度   0 ~ 4000
    private int zone;                           //转弯区
}
